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This probably isn't what you want to hear, but I don't think MoveIt will work with a 4-dof arm like this. The reason is, you're specifying a 6-dof target pose but your robot only has 4 joints. In general, you can't regulate 6 dimensions with only 4 joints. That is why MoveIt will almost always fail.

Possibly you could get this working with Constraints (e.g. allowing freedom to rotate in 2 dimensions). I'm not sure. That's mentioned in the tutorial here. https://ros-planning.github.io/moveit_tutorials/doc/motion_planning_api/motion_planning_api_tutorial.html